Sensor Control Method and Apparatus, and Sensor

ABSTRACT

A sensor control method includes: obtaining first indication information, where the first indication information indicates a first scenario; determining a configuration parameter of at least one sensor based on the first indication information, where the configuration parameter is corresponding to the first scenario; and sending the configuration parameter to the at least one sensor. The sensor control method may be applied to automatic driving or intelligent driving, and may be specifically applied to assisted driving or unmanned driving. The sensor can be flexibly controlled through configurable parameters of sensors such as radar or a camera.

CROSS-REFERENCE TO RELATED APPLICATIONS

This application is a continuation of International Patent ApplicationNo. PCT/CN2020/097296 filed on Jun. 20, 2020, which claims priority toChinese Patent Application No. 201910542746.8 filed on Jun. 21, 2019.The disclosures of the aforementioned applications are herebyincorporated by reference in their entireties.

TECHNICAL FIELD

This application relates to vehicle driving technologies, and inparticular, to a sensor control method and apparatus, and a sensor.

BACKGROUND

Long range radar (LRR) has ranging and anti-collision functions, and iswidely applied to fields such as adaptive cruise control (ACC), forwardcollision warning (FCW), and automatic emergency braking (AEB). Middlerange radar (MRR) and short range radar (SRR) have functions such asblind spot detection (BSD), lane change assistance (LCA), rear crosstraffic alerting (RCTA), an exit assistant function (EAF), and forwardcross traffic alerting (FCTA), and can accurately detect an objectaround a vehicle within a certain range. It can be learned thatdifferent application scenarios have different requirements for adetection distance of radar. The LRR, the MRR, and the SRR all play animportant role in an advanced driver assistant system (ADAS).

In a related technology, the LRR is installed at a center position of afront bumper of the vehicle, and an azimuth angle is 0°. An elevationangle is set to 1.5° when a height is less than 50 cm, and the elevationangle is set to 0° when the height is greater than 50 cm. In this way, amoving object can be detected. For example, a truck, a car, and apedestrian can be detected respectively at a distance of 150 meters, 100meters, and 60 meters. The functions such as the ACC, the FCW, and theAEB of the LRR have significant safety warning effects when a driver isdistracted, tired, or sleepy, or when the driver does not notice asituation in the front when using a mobile phone. As a typicalapplication of the ADAS system, the SRR can effectively reduce, infields such as the BSD and the LCA, a danger coefficient caused byinconvenient observation under harsh climates such as being at night, infog, and in heavy rain. In addition, the SRR can avoid collision thatoccurs between an adjacent lane and a “vision” blind spot when thedriver changes a lane.

However, a vehicle application is complex, and new applications keepemerging. In the future, a large quantity of different types of radarare required in a complex automatic driving scenario. On one hand,external space of the vehicle is limited, and it is difficult to installa plurality of types of radar for a plurality of applications at thesame time. On the other hand, an increasing quantity of different typesof radar increases complexity of management and control overvehicle-mounted radar.

SUMMARY

This application provides a sensor control method and apparatus, and asensor, to improve flexible control of the sensor and save externalspace of a vehicle.

According to a first aspect, this application provides a sensor controlmethod, including: obtaining first indication information, where thefirst indication information indicates a first scenario; determining aconfiguration parameter of at least one sensor based on the firstindication information, where the configuration parameter iscorresponding to the first scenario; and sending the configurationparameter to the at least one sensor.

In this application, the configuration parameter of the sensor isdetermined based on the first scenario, to implement that a same sensorsupports measurement requirements of a vehicle in various cases duringtraveling. This improves flexible control of the sensor, and savesexternal space of the vehicle.

In a possible implementation, the determining a configuration parameterof at least one sensor based on the first indication informationincludes: generating a configuration parameter corresponding to thefirst scenario; or determining the configuration parameter according toat least one preset parameter correspondence. The parametercorrespondence includes a correspondence between a scenario and aconfiguration parameter.

In this application, the configuration parameter may be determined in aplurality of manners, so that flexibility is improved.

In a possible implementation, the configuration parameter includes anyone or more of the following parameters: an operation mode, ameasurement period, and measurement time.

In a possible implementation, the method further includes: receiving acapability message sent by the at least one sensor; and determining aconfiguration parameter set based on the capability message. Theconfiguration parameter belongs to the configuration parameter set.

In this application, the configuration parameter of the sensor isdetermined based on the first scenario, and the configuration parameteris configured based on a capability of the sensor. This avoids a systemexception caused by parameter configuration when the sensor does notsupport the configuration.

In a possible implementation, the method further includes: receiving aconfiguration completion response message.

According to a second aspect, this application provides a sensor controlmethod, including: receiving measurement information from at least onesensor; determining a first scenario based on the measurementinformation; and sending first indication information. The firstindication information indicates the first scenario.

In a possible implementation, the measurement information includes atleast one of speed information, pedestrian detection information, andpositioning information. The determining a first scenario based on themeasurement information includes: determining the first scenario basedon at least one of the speed information, the pedestrian detectioninformation, and the positioning information.

According to a third aspect, this application provides a sensor controlmethod, including: reporting measurement information, where themeasurement information includes at least one of speed information,pedestrian detection information, and positioning information; receivinga configuration parameter; and performing configuration based on theconfiguration parameter.

In a possible implementation, the method further includes: sending acapability message. The capability message indicates a functionconfiguration supported by a sensor.

In a possible implementation, before the sending a capability message,the method further includes: downloading first-version software from aserver. The sending a capability message includes: sending thecapability message based on the first-version software.

In a possible implementation, the method further includes: sending aconfiguration completion response message. The configuration completionresponse message indicates that the sensor completes parameterconfiguration.

According to a fourth aspect, this application provides a sensor controlapparatus, including an obtaining module, configured to obtain firstindication information, where the first indication information indicatesa first scenario; a determining module, configured to determine aconfiguration parameter of at least one sensor based on the firstindication information, where the configuration parameter iscorresponding to the first scenario; and a sending module, configured tosend the configuration parameter to the at least one sensor.

In a possible implementation, the determining module is specificallyconfigured to: generate a configuration parameter corresponding to thefirst scenario; or determine the configuration parameter according to atleast one preset parameter correspondence. The parameter correspondenceincludes a correspondence between a scenario and a configurationparameter.

In a possible implementation, the configuration parameter includes anyone or more of the following parameters: an operation mode, ameasurement period, and measurement time.

In a possible implementation, the obtaining module is further configuredto receive a capability message sent by the sensor. The determiningmodule is further configured to determine a configuration parameter setbased on the capability message. The configuration parameter belongs tothe configuration parameter set.

In a possible implementation, the obtaining module is further configuredto receive a configuration completion response message.

According to a fifth aspect, this application provides a sensor controlapparatus, including a receiving module, configured to receivemeasurement information from at least one sensor; a determining module,configured to determine a first scenario based on the measurementinformation; and a sending module, configured to send first indicationinformation. The first indication information indicates the firstscenario.

In a possible implementation, the measurement information includes atleast one of speed information, pedestrian detection information, andpositioning information. The determining module is specificallyconfigured to determine the first scenario based on at least one of thespeed information, the pedestrian detection information, and thepositioning information.

According to a sixth aspect, this application provides a sensor,including a sending module, configured to report measurementinformation, where the measurement information includes at least one ofspeed information, pedestrian detection information, and positioninginformation; a receiving module, configured to receive a configurationparameter; and a configuration module, configured to performconfiguration based on the configuration parameter.

In a possible implementation, the sending module is further configuredto send a capability message. The capability message indicates afunction configuration supported by the sensor.

In a possible implementation, the receiving module is further configuredto download first-version software from a server. The sending module isspecifically configured to send the capability message based on thefirst-version software.

In a possible implementation, the sending module is further configuredto send a configuration completion response message. The configurationcompletion response message indicates that the sensor completesparameter configuration.

According to a seventh aspect, this application provides a sensorcontrol apparatus, including a receiving module, configured to receivemeasurement information from a sensor; a processing module, configuredto determine a first scenario based on the measurement information anddetermine a configuration parameter of at least one sensor, where theconfiguration parameter is corresponding to the first scenario; asending module, configured to send the configuration parameter to the atleast one sensor.

In a possible implementation, the measurement information includes atleast one of speed information, pedestrian detection information, andpositioning information. The processing module is specificallyconfigured to determine the first scenario based on at least one of thespeed information, the pedestrian detection information, and thepositioning information.

In a possible implementation, the processing module is specificallyconfigured to: generate a configuration parameter corresponding to thefirst scenario; or determine the configuration parameter according to atleast one preset parameter correspondence. The parameter correspondenceincludes a correspondence between a scenario and a configurationparameter.

In a possible implementation, the configuration parameter includes anyone or more of the following parameters: an operation mode, ameasurement period, and measurement time that are of the sensor.

In a possible implementation, the receiving module is further configuredto receive a capability message sent by the sensor. The processingmodule is further configured to determine a configuration parameter setbased on the capability message. The configuration parameter belongs tothe configuration parameter set.

According to an eighth aspect, this application provides a sensorcontrol system, including a control apparatus and a sensor. The controlapparatus is the apparatus according to any one of the fourth aspect,the fifth aspect, or the seventh aspect, and the sensor is the sensoraccording to any one of the sixth aspect.

According to a ninth aspect, this application provides acomputer-readable storage medium, including a computer program. When thecomputer program is executed on a computer, the computer is enabled toperform the method according to any one of the first aspect to the thirdaspect.

According to a tenth aspect, this application provides a computerprogram. When being executed by a computer, the computer program is usedto perform the method according to any one of the first aspect to thethird aspect.

According to an eleventh aspect, this application provides a chip,including a processor and a memory. The memory is configured to store acomputer program, and the processor is configured to invoke and run thecomputer program stored in the memory, to perform the method accordingto any one of the first aspect to the third aspect.

BRIEF DESCRIPTION OF DRAWINGS

FIG. 1 is an example of a functional block diagram of a vehicle 100according to an embodiment of this application;

FIG. 2 is an example of a functional block diagram of a sensor controlsystem according to an embodiment of this application;

FIG. 3 is a flowchart of a sensor control method according to anembodiment of this application;

FIG. 4 is another flowchart of a sensor control method according to anembodiment of this application;

FIG. 5 is a schematic structural diagram of a sensor control apparatusaccording to an embodiment of this application;

FIG. 6 is another schematic structural diagram of a sensor controlapparatus according to an embodiment of this application;

FIG. 7 is a schematic structural diagram of a sensor according to anembodiment of this application;

FIG. 8 is still another schematic structural diagram of a sensor controlapparatus according to an embodiment of this application; and

FIG. 9 is a schematic structural diagram of a sensor control entityaccording to an embodiment of this application.

DESCRIPTION OF EMBODIMENTS

To make the objectives, technical solutions, and advantages of thisapplication clearer, the following clearly and completely describes thetechnical solutions in this application with reference to theaccompanying drawings in this application. The described embodiments aremerely a part rather than all of the embodiments of this application.All other embodiments obtained by a person of ordinary skill in the artbased on the embodiments of this application without creative effortsshall fall within the protection scope of this application.

In the embodiments, claims, and the accompanying drawings of thisspecification in this application, the terms “first”, “second” and thelike are only used for a purpose of description, and cannot beunderstood as indicating or implying relative importance or a sequence.In addition, the terms “include”, “have”, and any variant thereof areintended to cover a non-exclusive inclusion, for example, include aseries of steps or units. Methods, systems, products, or devices are notnecessarily limited to those steps or units that are clearly listed, butmay include other steps or units that are not clearly listed or inherentto such processes, methods, products, or devices.

It should be understood that in this application, “at least one” meansone or more, and “a plurality of” means two or more. The term “and/or”is used to describe an association relationship between associatedobjects, and indicates that three relationships may exist. For example,“A and/or B” may represent the following three cases: Only A exists,only B exists, and both A and B exist, where A and B may be singular orplural. The character “/” generally indicates an “or” relationshipbetween the associated objects. “At least one of the following” or asimilar expression thereof indicates any combination of the following,including any combination of one or more of the following. For example,at least one of a, b, or c may indicate a, b, c, “a and b”, “a and c”,“b and c”, or “a, b, and c”, where a, b, and c may be singular orplural.

FIG. 1 is an example of a functional block diagram of a vehicle 100according to an embodiment of this application. As shown in FIG. 1,components coupled to or included in the vehicle 100 may include apropulsion system 110, a sensor system 120, a control system 130, aperipheral device 140, a power supply 150, a computing apparatus 160,and a user interface 170. The components of the vehicle 100 may beconfigured to work in a manner of interconnection with each other and/orinterconnection with other components coupled to various systems. Forexample, the power supply 150 may supply power to all components of thevehicle 100. The computing apparatus 160 may be configured to: receivedata from the propulsion system 110, the sensor system 120, the controlsystem 130, and the peripheral device 140, and control the propulsionsystem 110, the sensor system 120, the control system 130, and theperipheral device 140. The computing apparatus 160 may be furtherconfigured to: generate a display of an image at the user interface 170,and receive an input from the user interface 170.

It should be noted that, in another example, the vehicle 100 may includemore, fewer, or different systems, and each system may include more,fewer, or different components. In addition, the shown systems andcomponents may be combined or split in any manner. This is notspecifically limited in this application.

The computing apparatus 160 may include a processor 161, a transceiver162, and a memory 163. The computing apparatus 160 may be a controllerof the vehicle 100 or a part of the controller. The memory 163 may storean instruction 1631 that is run on the processor 161, and may furtherstore map data 1632. The processor 161 included in the computingapparatus 160 may include one or more general purpose processors and/orone or more dedicated processors (for example, an image processor or adigital signal processor). If the processor 161 includes more than oneprocessor, the processor may work independently or work in combination.The computing apparatus 160 may implement a function of controlling thevehicle 100 based on the input received by the user interface 170. Thetransceiver 162 is configured to perform communication between thecomputing apparatus 160 and each system. The memory 163 may furtherinclude one or more volatile storage components and/or one or morenon-volatile storage components, such as an optical, magnetic, and/ororganic storage apparatus. The memory 163 may be integrated with theprocessor 161 in whole or in part. The memory 163 may include theinstruction 1631 (for example, program logic) that is run by theprocessor 161, to run various vehicle functions, including any one ofthe functions or methods described in this specification.

The propulsion system 110 may be configured to provide powered motionfor the vehicle 100. As shown in FIG. 1, the propulsion system 110 mayinclude an engine 114, an energy source 113, a transmission apparatus112, and a wheel/tire 111. In addition, the propulsion system 110 mayadditionally or alternatively include another component other than thecomponents shown in FIG. 1. This is not limited in this embodiment ofthis application.

The sensor system 120 may include several sensors configured to senseinformation about an environment in which the vehicle 100 is located. Asshown in FIG. 1, sensors of the sensor system 120 include a GlobalPositioning System (GPS) 126, an inertial measurement unit (IMU) 125, alaser radar sensor 124, a camera sensor 123, a millimeter-wave radarsensor 122, and a brake 121 configured to modify a position and/or anorientation of a sensor. The GPS 126 may be any sensor configured toestimate a geographic location of the vehicle 100. Therefore, the GPS126 may include a transceiver that estimates a position of the vehicle100 relative to the earth based on satellite positioning data. In anexample, the computing apparatus 160 may be configured to estimate, withreference to the map data 1632 by using the GPS 126, a road on which thevehicle 100 travels. The IMU 125 may be configured to sense position andorientation changes of the vehicle 100 based on inertial accelerationand any combination thereof. In some examples, a combination of sensorsin the IMU 125 may include an accelerometer and a gyroscope. Inaddition, another combination of sensors in the IMU 125 is alsopossible. The laser radar sensor 124 may be considered as an objectdetection system, and the sensor senses or detects, by using light, anobject in the environment in which the vehicle 100 is located. Usually,the laser radar sensor 124 may use an optical remote sensing technologyin which a distance to a target or another attribute of the target ismeasured by using the light to illuminate the target. The laser radarsensor 124 may include a laser source and/or a laser scanner configuredto emit a laser pulse, and a detector configured to receive reflectionof the laser pulse. For example, the laser radar sensor 124 may includea laser rangefinder based on reflection by a rotation mirror, andperform laser scanning around a digital scene in one dimension or twodimensions, to collect distance measurement values from a specifiedangle at specified intervals. In the example, the laser radar sensor 124may include components such as a light (for example, laser) source, ascanner, an optical system, an optical detector, a receiver or anelectronic component, and a position and navigation system. The laserradar sensor 124 determines a distance to an object by scanning a laserreflected from the object, and may form a 3D environmental diagram withprecision of up to a centimeter level. The camera sensor 123 may be anycamera (such as a static camera or a video camera) configured to obtainan image of the environment in which the vehicle 100 is located.Therefore, the camera sensor 123 may be configured to detect visiblelight, or may be configured to detect light from another part (such asinfrared light or ultraviolet light) of a spectrum. Another type ofcamera sensor 123 is also possible. The camera sensor 123 may be atwo-dimensional detector, or may have a three-dimensional space rangedetection function. In some examples, the camera sensor 123 may be, forexample, a distance detector, configured to generate a two-dimensionalimage indicating a distance from the camera sensor 123 to several pointsin the environment. For this purpose, the camera sensor 123 may use oneor more distance detection technologies. For example, the camera sensor123 may be configured to use a structured light technology. The vehicle100 illuminates the object in the environment by using a predeterminedlight pattern, such as a grid or checkerboard pattern, and detectsreflection of the predetermined light pattern from the object by usingthe camera sensor 123. Based on distortion in a reflected light pattern,the vehicle 100 may be configured to detect a distance to a point on theobject. The predetermined light pattern may include the infrared lightor light of another wavelength. The millimeter-wave radar sensor 122 isusually an object detection sensor with a wavelength of 1-10 millimeters(mm) and a frequency range of approximately 10 gigahertz (GHz) to 200GHz. A measurement value of the millimeter-wave radar sensor 122 hasdepth information that can provide the distance to the target. Inaddition, the millimeter-wave radar sensor 122 has an obvious Dopplereffect, and is very sensitive to a speed. Therefore, a speed of thetarget may be directly obtained, and the speed of the target may beextracted by detecting a Doppler frequency shift of the target.Currently, two common frequency bands used by vehicle-mountedmillimeter-wave radar are 24 GHz and 77 GHz. A wavelength of the 24 GHzfrequency band is about 1.25 cm and is mainly used for short-distancesensing, such as parking assistance, lane change assistance, and sensinga surrounding environment of a vehicle and a blind spot. A wavelength ofthe 77 GHz frequency band is about 4 mm and is used for medium- andlong-distance measurement, such as automatic following, ACC, and AEB.

The sensor system 120 may also include additional sensors, including,for example, sensors that monitor an internal system of the vehicle 100(For example, an O₂ monitor, a fuel gauge, an engine oil temperaturegauge, and the like). The sensor system 120 may further include anothersensor. This is not limited in this embodiment of this application.

The control system 130 may be configured to control operations of boththe vehicle 100 and the components of the vehicle 100. Therefore, thecontrol system 130 may include a steering unit 136, an accelerator 135,a brake unit 134, a sensor fusion algorithm 133, a computer visionsystem 132, and a navigation/route control system 131. The controlsystem 130 may additionally or alternatively include another componentother than the components shown in FIG. 1. This is not limited in thisembodiment of this application.

The peripheral device 140 may be configured to allow the vehicle 100 tointeract with an external sensor, another vehicle, and/or a user.Therefore, the peripheral device 140 may include, for example, awireless communications system 144, a touchscreen 143, a microphone 142,and/or a speaker 141. The peripheral device 140 may additionally oralternatively include another component other than the components shownin FIG. 1. This is not limited in this embodiment of this application.

The power supply 150 may be configured to supply power to some or allcomponents of the vehicle 100. Therefore, the power supply 150 mayinclude, for example, a rechargeable lithium-ion or lead-acid battery.In some examples, one or more battery groups may be configured to supplypower. Other power materials and configurations are also possible. Insome examples, the power supply 150 and the energy source 113 may beimplemented together, as in some pure electric vehicles.

The components of the vehicle 100 may be configured to work in a mannerof interconnection with other components inside and/or outside theirrespective systems. Therefore, the components and systems of the vehicle100 may be communicatively linked together through a system bus, anetwork, and/or another connection mechanism.

FIG. 2 is an example of a functional block diagram of a sensor controlsystem according to an embodiment of this application. As shown in FIG.2, the system can be used in a vehicle or another carrier using thesystem. The following uses the vehicle as a carrier for description. Thesystem includes at least one installed sensor and a sensor controlentity. The sensor control entity may further include a sensormanagement entity and a scenario decision-making entity. The sensor maybe any one or more sensors in the sensor system 120 shown in FIG. 1. Thesensor management entity and the scenario decision-making entity may beintegrated into one entity device as a whole. The entity device may be,for example, the computing apparatus 160 shown in FIG. 1. Alternatively,the sensor management entity and the scenario decision-making entity maybe two independent entity devices. The two independent entity devicesmay be separately, for example, the computing apparatus 160 shown inFIG. 1, or the two independent entity devices may be separately anentity including the processor 161 and the transceiver 162 in thecomputing apparatus 160 shown in FIG. 1. Then, the two independententity devices share the memory 163. It should be noted that the sensormanagement entity and the scenario decision-making entity in thisapplication may be implemented in any implementable combination manner.This is not specifically limited in this application.

To better understand the embodiments of this application, the followinguses a system that is the same as or similar to the system shown in FIG.2 as an example to describe the embodiments of this application.

FIG. 3 is a flowchart of a sensor control method according to anembodiment of this application. As shown in FIG. 3, the method in thisembodiment may include the following steps.

Step 301: At least one sensor reports measurement information.

As described above, in some examples, the at least one sensor mayinclude at least one of a GPS 126, an IMU 125, a laser radar sensor 124,a camera sensor 123, a millimeter-wave radar sensor 122, and a brake121.

In some other examples, the sensor may further include at least one ofan oxygen (O₂) monitor, a fuel gauge, an engine oil temperature gauge,and the like.

For example, the GPS 126 may be any sensor configured to estimate ageographic location of a vehicle 100. The IMU 125 may be configured tosense position and orientation changes of the vehicle 100 based oninertial acceleration and any combination thereof. A combination ofsensors in the IMU 125 may include, for example, an accelerometer and agyroscope. The laser radar sensor 124 may be considered as an objectdetection system, and the sensor measures a distance to a target byilluminating the target by using light. The camera sensor 123 may be anycamera (such as a static camera or a video camera) configured to obtainan image of an environment in which the vehicle 100 is located. In someexamples, the camera sensor 123 may be, for example, a distancedetector, configured to generate a two-dimensional image indicating adistance from the camera sensor 123 to several points in theenvironment. For this purpose, the camera sensor 123 may use one or moredistance detection technologies. A measurement value of themillimeter-wave radar sensor 122 has depth information that can providethe distance to the target. In addition, the millimeter-wave radarsensor 122 has an obvious Doppler effect, and is very sensitive to aspeed. Therefore, a speed of the target may be directly obtained, andthe speed of the target may be extracted by detecting a Dopplerfrequency shift of the target. Currently, two common frequency bandsused by vehicle-mounted millimeter-wave radar are 24 GHz and 77 GHz. Awavelength of the 24 GHz frequency band is about 1.25 cm and is mainlyused for short-distance sensing, such as parking assistance, lane changeassistance, and sensing a surrounding environment of a vehicle and ablind spot. A wavelength of the 77 GHz frequency band is about 4 mm andis used for medium- and long-distance measurement, such as automaticfollowing, ACC, and AEB.

It can be learned that when the sensor is installed on the vehicle,measurement information such as longitude, latitude, a speed, anorientation, and a distance to a surrounding object that are of thevehicle and that are sensed by the sensor may be obtained in real timeor periodically. Then, assisted driving or unmanned driving of thevehicle is implemented based on the measurement information. Forexample, a position of the vehicle is determined through the longitudeand the latitude. Alternatively, a traveling direction and a destinationof the vehicle in a future period of time are determined through thespeed and the orientation. Alternatively, a quantity of obstacles,density of the obstacles, and the like are determined through thedistance to the surrounding object, where the obstacles are around thevehicle. In this application, the measurement information may include atleast one of speed information, pedestrian detection information, andpositioning information. The pedestrian detection information mayinclude a quantity of pedestrians, positions of the pedestrians, anddensity of the pedestrians, where the pedestrians are in the surroundingenvironment. The positioning information may include latitude andlongitude of a current position, a mark of the latitude and longitude ona map, or the like.

The sensor may perform measurement periodically, and then report themeasurement information to a sensor management entity. The sensormanagement entity forwards the measurement information to a scenariodecision-making entity, or the sensor directly reports the measurementinformation to the scenario decision-making entity.

Step 302: A scenario decision-making entity determines a first scenariobased on the measurement information.

The first scenario indicates a scenario in which a sensor carrier islocated. In some examples, the measurement information reported by thesensor can reflect a position, a speed, an orientation, a distance to asurrounding object, and the like of the sensor carrier. The scenariodecision-making entity may classify the measurement information inadvance based on different values of the measurement information, andset a name for each category. In this way, a correspondence between aname of a category and an actual value of measurement information may beestablished. For example, different scenario names are used to indicatedifferent types of measurement information. It is assumed that thescenario names include a downtown scenario, a suburban scenario, and ahighway scenario. Measurement information corresponding to the downtownscenario may include, for example, a quantity of surrounding pedestrians(the quantity is greater than a first threshold), a distance to thesurrounding pedestrian (the distance is less than or equal to a secondthreshold), a speed (the speed is less than or equal to a thirdthreshold), a position (it may be determined, by combining the positionwith map data, that a road corresponding to the position belongs to adowntown area), and the like. Measurement information corresponding tothe suburban scenario may include, for example, a quantity ofsurrounding pedestrians (the quantity is less than or equal to the firstthreshold and greater than a fourth threshold), a distance to thesurrounding pedestrian (the distance is greater than the secondthreshold and less than or equal to a sixth threshold), a speed (thespeed is greater than the third threshold and less than or equal to aseventh threshold), a position (it may be determined, by combining theposition with the map data, that a road corresponding to the positionbelongs to a suburban area), and the like. Measurement informationcorresponding to the highway scenario may include, for example, aquantity of surrounding pedestrians (the quantity is less than or equalto the fourth threshold), a distance to the surrounding pedestrian (thedistance is greater than the sixth threshold), a speed (the speed isgreater than the seventh threshold), a position (it may be determined,by combining the position with the map data, that a road correspondingto the position belongs to a highway), and the like.

It can be learned that the scenario decision-making entity maydetermine, based on a specific value of the obtained measurementinformation, the category to which the obtained measurement informationbelongs, namely, the name of the category. In this application, thefirst scenario is the name of the category to which the specific valueof the determined measurement information belongs.

Step 303: The scenario decision-making entity sends first indicationinformation to a sensor management entity, where the first indicationinformation indicates the first scenario.

In this application, after the scenario decision-making entitydetermines the first scenario, when a category of the first scenario isthe same as a category of a first scenario determined last time, thisindicates that a category of a scenario in which the carrier of thesensor is located does not change. Therefore, the scenariodecision-making entity may choose not to send the first indicationinformation. Alternatively, the scenario decision-making entity maychoose to send the first indication information to the sensor managemententity, and the sensor management entity determines whether toreconfigure a configuration parameter of the sensor. When the categoryof the first scenario is different from the category of the firstscenario determined last time, this indicates that the category of thescenario in which the carrier of the sensor is located changes.Therefore, the scenario decision-making entity needs to send the firstindication information to the sensor management entity, to trigger thesensor management entity reconfiguring the configuration parameter ofthe sensor.

Step 304: The sensor management entity determines a configurationparameter of the sensor based on the first indication information, wherethe configuration parameter is corresponding to the first scenario.

As described above, the scenario decision-making entity classifies themeasurement information in advance based on different values of themeasurement information, and sets the name for each category. In thisway, the correspondence between a name of a category and an actual valueof measurement information may be established. However, in the sensormanagement entity, a correspondence between a name of a category and aconfiguration parameter of a sensor is pre-established. Theconfiguration parameter may include, for example, any one or more of anoperation mode, a measurement period, and measurement time that are ofthe sensor.

As described above, in some examples, the at least one sensor mayinclude at least one of the GPS 126, the IMU 125, the laser radar sensor124, the camera sensor 123, the millimeter-wave radar sensor 122, andthe brake 121.

In some other examples, the sensor may further include at least one ofthe O₂ monitor, the fuel gauge, the engine oil temperature gauge, andthe like.

Each sensor may configure an operation mode, a measurement period,measurement time, and the like for at least one of the O₂ monitor, thefuel gauge, the engine oil temperature gauge, and the like. For example,the GPS 126 may include a high-precision positioning mode (for example,may be accurate to a house number) and a low-precision positioning mode(for example, may be accurate to a road level). The IMU 125 and thecamera sensor 123 may include periodic measurement (for example,performing measurement based on the configured measurement period) andevent-triggered measurement (for example, performing measurement basedon a specified event, where the event may be, for example, that avehicle speed change exceeds a specified threshold). The laser radarsensor 124 and the millimeter-wave radar sensor 122 may include an LRRmode, an MRR mode, an SRR mode, and the like. Based on performance ofthe foregoing sensors, working statuses of the at least one of the O₂monitor, the fuel gauge, the engine oil temperature gauge, and the likemay be controlled by the configuration parameter.

For example, different scenario names are used to indicate differenttypes of measurement information. It is assumed that the scenario namesinclude the downtown scenario, the suburban scenario, and the highwayscenario. A configuration parameter corresponding to the downtownscenario may include: The GPS 126 works in the high-precisionpositioning mode, the IMU 125 and the camera sensor 123 report themeasurement information at a fixed time interval in a set period, andthe laser radar sensor 124 and the millimeter-wave radar sensor 122 workin the SRR mode. A configuration parameter corresponding to the suburbanscenario may include: The GPS 126 works in the low-precision positioningmode, the IMU 125 reports the measurement information at the fixed timeinterval in the set period, the camera sensor 123 reports themeasurement information when detecting that a pedestrian appears in aspecified range, and the laser radar sensor 124 and the millimeter-waveradar sensor 122 work in the MRR mode. A configuration parametercorresponding to the highway scenario may include: The GPS 126 works inthe low-precision positioning mode, the IMU 125 and the camera sensor123 report the measurement information when detecting that a pedestrianor a vehicle appears in the specified range, and the laser radar sensor124 and the millimeter-wave radar sensor 122 work in the LRR mode.

After the first scenario is obtained, it can be learned that, the sensormanagement entity may directly generate, according to the correspondencebetween a name of a category and a configuration parameter of a sensor,the configuration parameter corresponding to the first scenario, orsearch, according to the correspondence, locally stored configurationparameters for the configuration parameter matching the first scenario.In this way, the sensor works in a corresponding manner under control ofthe configuration parameter.

In a possible implementation, after receiving the first indicationinformation, the sensor management entity may first determine whetherthe first scenario indicated by the first indication information is thesame as a first scenario obtained when the configuration parameter ofthe sensor is configured last time. If the two first scenarios are thesame, the configuration parameter of the sensor does not need to bereconfigured. If the two first scenarios are different, theconfiguration parameter of the sensor needs to be reconfigured. Forexample, if the first scenario obtained when the configuration parameterof the sensor is configured last time is the downtown scenario, and thefirst scenario indicated by the first indication information receivedthis time is the suburban scenario, the sensor management entity needsto reconfigure the configuration parameter of the sensor based on thesuburban scenario. Alternatively, if the first scenario obtained whenthe configuration parameter of the sensor is configured last time is thehighway scenario, and the first scenario indicated by the firstindication information received this time is the downtown scenario, thesensor management entity needs to reconfigure the configurationparameter of the sensor based on the downtown scenario.

Step 305: The sensor management entity sends the configuration parameterto the sensor.

Step 306: The sensor performs configuration based on the configurationparameter.

After receiving the configuration parameter reconfigured by the sensormanagement entity, the sensor completes its own configuration based on aspecific value of the configuration parameter. For example, the GPS 126is configured to work in the high-precision positioning mode, the IMU125 and the camera sensor 123 report the measurement information at thefixed time interval in the set period, and the laser radar sensor 124and the millimeter-wave radar sensor 122 work in the SRR mode.Alternatively, the GPS 126 works in the low-precision positioning mode,the IMU 125 reports the measurement information at the fixed timeinterval in the set period, the camera sensor 123 reports themeasurement information when detecting that a pedestrian appears in thespecified range, and the laser radar sensor 124 and the millimeter-waveradar sensor 122 work in the MRR mode. Alternatively, the GPS 126 worksin the low-precision positioning mode, the IMU 125 and the camera sensor123 report the measurement information when detecting that a pedestrianor a vehicle appears in the specified range, and the laser radar sensor124 and the millimeter-wave radar sensor 122 work in the LRR mode.

It can be learned that the sensor may work under different values of theconfiguration parameter to adapt to different first scenarios. In thisway, control methods are flexible and diverse, and are also efficient atthe same time.

Step 307: The sensor sends a configuration completion response messageto the sensor management entity.

The sensor notifies the sensor management entity of completion ofparameter configuration through the configuration completion responsemessage. In this application, the configuration parameter of the sensoris determined based on the first scenario, to implement that a samesensor supports measurement requirements in various cases duringtraveling of a vehicle. In this case, flexible control of the sensor isimproved, and external space of the vehicle can be saved.

FIG. 4 is another flowchart of a sensor control method according to anembodiment of this application. As shown in FIG. 4, the method in thisembodiment may include the following steps.

Step 401: At least one sensor sends a capability message to a sensormanagement entity.

Before a system works or when a capability of any sensor changes, the atleast one sensor notifies the sensor management entity of a currentcapability of the at least one sensor, namely, a supported functionconfiguration, for example, whether parameter configuration issupported, whether a plurality of operation modes are supported, andwhich operation modes and parameter configuration are supported. In someexamples, the at least one sensor may download first-version softwarethrough a server. The first-version software is higher thanexisting-version software of the sensor. For example, the first-versionsoftware is upgraded compared with the existing-version software interms of measurement precision, algorithm, and/or function of thesensor. After the first-version software is installed, the sensor mayupgrade a version of the sensor. After the upgrade, the sensor sends thecapability message to inform the sensor management entity of thefunction configuration supported after the upgrade.

Step 402: The sensor management entity determines a configurationparameter set based on the capability message.

Based on the capability message of the at least one sensor, the sensormanagement entity may determine whether the sensor supports theparameter configuration, whether the sensor supports the plurality ofoperation modes, and which operation modes, parameter configuration, andthe like that the sensor supports, to determine the configurationparameter set.

As described above, in some examples, the at least one sensor mayinclude at least one of a GPS 126, an IMU 125, a laser radar sensor 124,a camera sensor 123, a millimeter-wave radar sensor 122, and a brake121.

In some other examples, the sensor may further include at least one ofan 02 monitor, a fuel gauge, an engine oil temperature gauge, and thelike.

Limited by the capability, each sensor supports different operationmodes, measurement periods, and measurement time periods. For example,the GPS 126 may include a high-precision positioning mode (for example,may be accurate to a house number) and a low-precision positioning mode(for example, may be accurate to a road level), or may not support amode change, namely, the GPS 126 can work only in one mode. The IMU 125and the camera sensor 123 may support periodic measurement (for example,performing measurement based on the configured measurement period) andevent-triggered measurement (for example, performing measurement basedon a specified event, where the event may be, for example, that avehicle speed change exceeds a specified threshold), or may support onlyone of the foregoing two measurement manners. The laser radar sensor 124and the millimeter-wave radar sensor 122 may support three modes: an LRRmode, an MRR mode, and an SRR mode.

Therefore, after the capability message is received, the configurationparameter set of the sensor is determined based on the capability of thesensor, namely, values of which configuration parameters can beconfigured for the sensor are determined.

Step 403: The at least one sensor reports measurement information.

A technical principle of step 403 in this embodiment is similar to thatof step 301 in Embodiment 1 of the foregoing method, and details are notdescribed herein again.

Step 404: A scenario decision-making entity determines a first scenariobased on the measurement information.

A technical principle of step 404 in this embodiment is similar to thatof step 302 in Embodiment 1 of the foregoing method, and details are notdescribed herein again.

Step 405: The scenario decision-making entity sends first indicationinformation to a sensor management entity, where the first indicationinformation indicates the first scenario.

A technical principle of step 405 in this embodiment is similar to thatof step 303 in Embodiment 1 of the foregoing method, and details are notdescribed herein again.

Step 406: The sensor management entity determines a configurationparameter of the sensor based on the first indication information, wherethe configuration parameter belongs to the configuration parameter setand is corresponding to the first scenario.

The sensor management entity determines, from the configurationparameter set determined in step 402, the configuration parametercorresponding to the first scenario, namely, the configuration parameterset limits a range of the configuration parameter for the sensormanagement entity. The sensor management entity can determine theconfiguration parameter only within the range of the configurationparameter. This avoids a system exception caused by the parameterconfiguration when the sensor does not support the configuration.

Step 407: The sensor management entity sends the configuration parameterto the sensor.

A technical principle of step 407 in this embodiment is similar to thatof step 305 in Embodiment 1 of the foregoing method, and details are notdescribed herein again.

Step 408: The sensor performs configuration based on the configurationparameter.

A technical principle of step 408 in this embodiment is similar to thatof step 306 in Embodiment 1 of the foregoing method, and details are notdescribed herein again.

Step 409: The sensor sends a configuration completion response messageto the sensor management entity.

A technical principle of step 409 in this embodiment is similar to thatof step 307 in Embodiment 1 of the foregoing method, and details are notdescribed herein again.

In this application, the configuration parameter of the sensor isdetermined based on the first scenario, and the configuration parameteris configured based on the capability of the sensor. This avoids thesystem exception caused by the parameter configuration when the sensordoes not support the configuration.

FIG. 5 is a schematic structural diagram of a sensor control apparatusaccording to an embodiment of this application. As shown in FIG. 5, theapparatus in this embodiment may be applied to the foregoing sensormanagement entity. The apparatus includes an obtaining module 501, adetermining module 502, and a sending module 503. The obtaining module501 is configured to obtain first indication information. The firstindication information indicates a first scenario. The determiningmodule 502 is configured to determine a configuration parameter of atleast one sensor based on the first indication information. Theconfiguration parameter is corresponding to the first scenario. Thesending module 503 is configured to send the configuration parameter tothe at least one sensor.

In a possible implementation, the determining module 502 is specificallyconfigured to: generate the configuration parameter corresponding to thefirst scenario; or determine the configuration parameter according to atleast one preset parameter correspondence. The parameter correspondenceincludes a correspondence between a scenario and a configurationparameter.

In a possible implementation, the configuration parameter includes anyone or more of the following parameters: an operation mode, ameasurement period, and measurement time that are of the sensor.

In a possible implementation, the obtaining module 501 is furtherconfigured to receive a capability message sent by the sensor. Thedetermining module 502 is further configured to determine aconfiguration parameter set based on the capability message. Theconfiguration parameter belongs to the configuration parameter set.

In a possible implementation, the obtaining module 501 is furtherconfigured to receive a configuration completion response message.

FIG. 6 is another schematic structural diagram of a sensor controlapparatus according to an embodiment of this application. As shown inFIG. 6, the apparatus in this embodiment may be applied to the foregoingscenario decision-making entity. The apparatus includes a receivingmodule 601, a determining module 602, and a sending module 603. Thereceiving module 601 is configured to receive measurement informationfrom a sensor. The determining module 602 is configured to determine afirst scenario based on the measurement information. The sending module603 is configured to send first indication information. The firstindication information indicates the first scenario.

In a possible implementation, the measurement information includes atleast one of speed information, pedestrian detection information, andpositioning information. The determining module 602 is specificallyconfigured to determine the first scenario based on at least one of thespeed information, the pedestrian detection information, and thepositioning information. FIG. 7 is a schematic structural diagram of asensor according to an embodiment of this application. As shown in FIG.7, the apparatus in this embodiment may include a sending module 701, areceiving module 702, and a configuration module 703. The sending module701 is configured to report measurement information. The measurementinformation includes at least one of speed information, pedestriandetection information, and positioning information. The receiving module702 is configured to receive a configuration parameter. Theconfiguration module 703 is configured to perform configuration based onthe configuration parameter.

In a possible implementation, the sending module 701 is furtherconfigured to send a capability message. The capability messageindicates a function configuration supported by the sensor.

In a possible implementation, the receiving module 702 is furtherconfigured to download first-version software from a server. The sendingmodule 701 is specifically configured to send the capability messagebased on the first-version software.

In a possible implementation, the sending module 701 is furtherconfigured to send a configuration completion response message. Theconfiguration completion response message indicates that the sensorcompletes parameter configuration.

FIG. 8 is still another schematic structural diagram of a sensor controlapparatus according to an embodiment of this application. As shown inFIG. 8, the apparatus in this embodiment may include a receiving module801, a processing module 802, and a sending module 803. The receivingmodule 801 is configured to receive measurement information from asensor. The processing module 802 is configured to: determine a firstscenario based on the measurement information; and determine aconfiguration parameter of at least one sensor. The configurationparameter is corresponding to the first scenario. The sending module 803is configured to send the configuration parameter to the at least onesensor.

In a possible implementation, the measurement information includes atleast one of speed information, pedestrian detection information, andpositioning information. The processing module 802 is specificallyconfigured to determine the first scenario based on at least one of thespeed information, the pedestrian detection information, and thepositioning information.

In a possible implementation, the processing module 802 is specificallyconfigured to: generate the configuration parameter corresponding to thefirst scenario; or determine the configuration parameter according to atleast one preset parameter correspondence. The parameter correspondenceincludes a correspondence between a scenario and a configurationparameter.

In a possible implementation, the configuration parameter includes anyone or more of the following parameters: an operation mode, ameasurement period, and measurement time that are of the sensor.

In a possible implementation, the receiving module 801 is furtherconfigured to receive a capability message sent by the sensor. Theprocessing module 802 is further configured to determine a configurationparameter set based on the capability message. The configurationparameter belongs to the configuration parameter set.

The foregoing apparatus embodiment may be used to execute the technicalsolution of the method embodiment shown in FIG. 2 or FIG. 3.Implementation principles and technical effects of the apparatusembodiment are similar to those of the method embodiment shown in FIG. 2or FIG. 3, and details are not described herein again.

FIG. 9 is a schematic structural diagram of a sensor control entityaccording to an embodiment of this application. As shown in FIG. 9, thesensor control entity 900 may be the sensor management entity or thescenario decision-making entity in the foregoing embodiment. The sensorcontrol entity 900 includes a processor 901 and a transceiver 902.

Optionally, the sensor control entity 900 further includes a memory 903.The processor 901, the transceiver 902, and the memory 903 maycommunicate with each other through an internal connection path, totransfer a control signal and/or a data signal.

The memory 903 is configured to store a computer program. The processor901 is configured to execute the computer program stored in the memory903, to implement the functions in the foregoing apparatus embodiments.

Optionally, the memory 903 may be integrated into the processor 901, ormay be independent of the processor 901.

Optionally, the sensor control entity 900 may further include an antenna904, configured to transmit a signal output by the transceiver 902.Alternatively, the transceiver 902 receives a signal through theantenna.

Optionally, the sensor control entity 900 may further include a powersupply 905, configured to supply power to various components or circuitsin a vehicle-mounted device.

In addition, to improve a function of the vehicle-mounted device, thesensor control entity 900 may further include one or more of an inputunit 906, a display unit 907 (which may also be considered as an outputunit), an audio circuit 908, a camera 909, a sensor 910, and the like.The audio circuit may further include a speaker 9091, a microphone 9082,and the like. Details are not described herein.

This application further provides a computer-readable storage medium.The computer-readable storage medium stores a computer program. When thecomputer program is executed by a computer, the computer is enabled toperform the steps and/or the processing in any foregoing methodembodiment.

This application further provides a computer program product. Thecomputer program product includes computer program code. When thecomputer program code is run on a computer, the computer is enabled toperform the steps and/or the processing in any foregoing methodembodiment.

This application further provides a chip, and the chip includes aprocessor. A memory configured to store a computer program is disposedindependent of the chip. The processor is configured to execute thecomputer program stored in the memory, to perform the steps and/or theprocessing in any method embodiment.

Further, the chip may include the memory and a communications interface.The communications interface may be an input/output interface, a pin, aninput/output circuit, or the like.

The processor mentioned in the foregoing embodiments may be anintegrated circuit chip, and has a signal processing capability. In animplementation process, steps in the foregoing method embodiments can beimplemented by using a hardware integrated logical circuit in theprocessor, or by using instructions in a form of software. The processormay be a general purpose processor, a digital signal processor (DSP), anapplication-specific integrated circuit (ASIC), a field-programmablegate array (FPGA) or another programmable logic device, a discrete gateor transistor logic device, or a discrete hardware component. Thegeneral purpose processor may be a microprocessor, or the processor maybe any conventional processor or the like. Steps of the methodsdisclosed in the embodiments of this application may be directlyperformed and completed by a hardware encoding processor, or may beperformed and completed by a combination of hardware and softwaremodules in the encoding processor. The software module may be located ina mature storage medium in the art, such as a random access memory, aflash memory, a read-only memory, a programmable read-only memory, anelectrically erasable programmable memory, or a register. The storagemedium is located in the memory, and a processor reads information inthe memory and completes the steps in the foregoing methods incombination with hardware of the processor.

The memory in the foregoing embodiments may be a volatile memory or anon-volatile memory, or may include both a volatile memory and anon-volatile memory. The non-volatile memory may be a read-only memory(ROM), a programmable ROM (PROM), an erasable programmable ROM (EPROM),an electrically erasable programmable ROM (EEPROM), or a flash memory.The volatile memory may be a random-access memory (RAM), used as anexternal cache. Through example but not limitative description, manyforms of RAMs may be used, for example, a static RAM (SRAM), a dynamicRAM (DRAM), a synchronous DRAM (SDRAM), a double data rate SDRAM (DDRSDRAM), an enhanced SDRAM (ESDRAM), a SynchLink DRAM (SLDRAM), and adirect Rambus RAM (DR RAM). It should be noted that the memory of thesystems and methods described in this specification includes but is notlimited to these and any memory of another proper type.

A person of ordinary skill in the art may be aware that, in combinationwith the examples described in the embodiments disclosed in thisspecification, units and algorithm steps may be implemented byelectronic hardware or a combination of computer software and electronichardware. Whether the functions are performed by hardware or softwaredepends on particular applications and design constraint conditions ofthe technical solutions. A person skilled in the art may use differentmethods to implement the described functions for each particularapplication, but it should not be considered that the implementationgoes beyond the scope of this application.

It may be clearly understood by a person skilled in the art that, forthe purpose of convenient and brief description, for a detailed workingprocess of the foregoing system, apparatus, and unit, refer to acorresponding process in the foregoing method embodiments, and detailsare not described herein again.

In the several embodiments provided in this application, it should beunderstood that the disclosed system, apparatus, and method may beimplemented in another manner. For example, the described apparatusembodiment is merely an example. For example, division into the units ismerely logical function division and may be other division in actualimplementation. For example, a plurality of units or components may becombined or integrated into another system, or some features may beignored or not performed. In addition, the displayed or discussed mutualcouplings or direct couplings or communication connections may beimplemented through some interfaces. The indirect couplings orcommunication connections between the apparatuses or units may beimplemented in electronic, mechanical, or other forms.

The units described as separate parts may or may not be physicallyseparate, and parts displayed as units may or may not be physical units,may be located in one position, or may be distributed on a plurality ofnetwork units. Some or all of the units may be selected based on actualrequirements to achieve the objectives of the solutions of theembodiments.

In addition, functional units in the embodiments of this application maybe integrated into one processing unit, or each of the units may existalone physically, or two or more units are integrated into one unit.

When the functions are implemented in the form of a software functionalunit and sold or used as an independent product, the functions may bestored in a computer-readable storage medium. Based on such anunderstanding, the technical solutions may be implemented in the form ofa software product. The software product is stored in a storage mediumand includes several instructions for instructing a computer device(which is a personal computer, a server, or a network device) to performall or some of the steps of the methods described in the embodiments ofthis application. The foregoing storage medium includes: any medium thatcan store program code, such as a universal serial bus (USB) flashdrive, a removable hard disk, a ROM, a RAM, a magnetic disk, or anoptical disc.

The foregoing descriptions are merely specific implementations of thisapplication, but are not intended to limit the protection scope of thisapplication. Any variation or replacement readily figured out by aperson skilled in the art within the technical scope disclosed in thisapplication shall fall within the protection scope of this application.Therefore, the protection scope of this application shall be subject tothe protection scope of the claims.

1. A sensor control method, comprising: receiving measurementinformation from a first sensor, wherein the measurement informationcomprises at least one of speed information or pedestrian detectioninformation; determining a first scenario based on the measurementinformation; determining a first configuration parameter of a secondsensor based on the first scenario, wherein the first configurationparameter corresponds to the first scenario; and sending the firstconfiguration parameter to the second sensor.
 2. The sensor controlmethod of claim 1, wherein determining the first configuration parametercomprises generating the first configuration parameter.
 3. The sensorcontrol method of claim 1, wherein the first configuration parametercomprises one or more of an operation mode, a measurement period, or ameasurement time.
 4. The sensor control method of claim 1, furthercomprising: receiving a capability message from the second sensor,wherein the capability message indicates a function configurationsupported by the second sensor; and determining a configurationparameter set based on the capability message, wherein the configurationparameter set comprises the first configuration parameter.
 5. The sensorcontrol method of claim 1, further comprising receiving a configurationcompletion response message indicating that the second sensor hascompleted parameter configuration.
 6. A sensor control methodimplemented by a sensor, the sensor control method comprising: reportingmeasurement information that comprises at least one of speed informationor pedestrian detection information, wherein the measurement informationindicates a first scenario; receiving a configuration parameter, whereinthe configuration parameter corresponds to the first scenario; andconfiguring the sensor based on the configuration parameter.
 7. Thesensor control method of claim 6, further comprising sending acapability message indicating a function configuration supported by thesensor.
 8. The sensor control method of claim 7, wherein before sendingthe capability message, the sensor control method further comprisesdownloading first-version software from a server, and wherein sendingthe capability message comprises sending the capability message based onthe first-version software.
 9. The sensor control method of claim 6,further comprising sending a configuration completion response messageindicating that the sensor has completed parameter configuration.
 10. Anapparatus, comprising: a memory configured to store programinstructions; and one or more processors coupled to the memory andconfigured to execute the program instructions to cause the apparatusto: receive measurement information from a first sensor, wherein themeasurement information comprises at least one of speed information orpedestrian detection information; determine a first scenario based onthe measurement information; determine a first configuration parameterof a second sensor based on the first scenario, wherein the firstconfiguration parameter corresponds to the first scenario; and send thefirst configuration parameter to the second sensor.
 11. The apparatus ofclaim 10, wherein when executed by the one or more processors, theprogram instructions further cause the apparatus to generate the firstconfiguration parameter.
 12. The apparatus of claim 10, wherein thefirst configuration parameter comprises one or more of an operationmode, a measurement period, or a measurement time.
 13. The apparatusaccording to claim 10, wherein when executed by the one or moreprocessors, the program instructions further cause the apparatus to:receive a capability message from the second sensor, wherein thecapability message indicates a function configuration supported by thesecond sensor; and determine a configuration parameter set based on thecapability message, wherein the configuration parameter set comprisesthe first configuration parameter.
 14. The apparatus of claim 10,wherein when executed by the one or more processors, the programinstructions further cause the apparatus to receive a configurationcompletion response message indicating that the second sensor hascompleted parameter configuration.
 15. A sensor, comprising: atransmitter configured to report measurement information, wherein themeasurement information comprises at least one of speed information orpedestrian detection information; a receiver configured to receive aconfiguration parameter; and a processor configured to configure thesensor based on the configuration parameter.
 16. The sensor of claim 15,wherein the transmitter is further configured to send a capabilitymessage indicating a function configuration supported by the sensor. 17.The sensor of claim 16, wherein the receiver is further configured todownload first-version software from a server, and wherein thetransmitter is further configured to send the capability message basedon the first-version software.
 18. The sensor of claim 15, wherein thetransmitter is further configured to send a configuration completionresponse message indicating that the sensor has completed parameterconfiguration.
 19. The sensor control method of claim 1, whereindetermining the first configuration parameter comprises determining thefirst configuration parameter according to at least one preset parametercorrespondence, wherein the preset parameter correspondence comprises acorrespondence between at least one scenario and at least oneconfiguration parameter, and wherein the at least one scenario comprisesthe first scenario and the at least one configuration parametercomprises the first configuration parameter.
 20. The apparatus of claim10, wherein when executed by the one or more processors, the programinstructions further cause the apparatus to determine the firstconfiguration parameter according to at least one preset parametercorrespondence, wherein the preset parameter correspondence comprises acorrespondence between at least one scenario and at least oneconfiguration parameter, and wherein the at least one scenario comprisesthe first scenario and the at least one configuration parametercomprises the first configuration parameter.